A dual-arm live working robot

Abstract

The invention provides a hot-line robot with double mechanical arms, and coordination control over the double mechanical arms is achieved. The hot-line robot with the double mechanical arms comprises the first mechanical arm, the second mechanical arm, binocular cameras, panoramic cameras, a main manipulator, a driving control cabinet, a driven control cabinet and a displayer. The first mechanical arm and the second mechanical arm are each provided with one binocular camera. A second industrial personal computer is externally connected with a working mode selector switch and used for determining a current working mode of a double mechanical arm control system, and the working modes comprise the teleoperation mode and the autonomous working mode. Based on the teleoperation working mode, the double mechanical arm coordination control system with the autonomous operation working function and a method of the double mechanical arm coordination control system are provided; and by the adoption of the autonomous working mode, on one hand, safety of operators can be guaranteed, on the other hand, misoperation can be reduced, and the operation efficiency and operation quality are improved.

Description

technical field [0001] The invention belongs to the field of electric power technology, and in particular relates to a live working robot with double mechanical arms. Background technique [0002] At present, the widely used live working technology is mainly manual live working, which requires operators to climb high-voltage iron towers or use insulated arm trucks to carry out non-power-off work. However, manual live work means that the operator must be in a dangerous environment with high altitude, high voltage, and strong electromagnetic field. The labor intensity is high, and the posture of the human body is difficult to control. A little carelessness is prone to personal injury and death accidents. In order to solve the dangers caused by manual live work and improve work efficiency, live work technology using robots instead of manual work has emerged at home and abroad. [0003] The research results of the live working robot mainly adopt the remote operation method of t...

AI Technical Summary

Problems solved by technology

This method ensures the safety of the operators, but still has high requirements for the operators, and has the following disadvantages: the operators are required to have high technical proficiency, and they must be highly concentrated during the operation; the operation is slow, and the operation must be guaranteed The environment is safe before proceeding to the next step; if the operation is not done properly, the robotic arm may be damaged, seriously affecting the working efficiency

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